The first part of our experiments (sec:Experiments-Quantitative) comprises a quantitative evaluation of the accuracy and performance of our optimized implementations on the KITTI 2015 stereo benchmark [1]}, as well as the Middlebury 2014 stereo benchmark [2]}. In this, we have also evaluated and studied the effects of different configurations of the processing pipeline for real-time disparity estimation, e.g. the effect of reducing the number of *SGM paths or the improvement of the additional subpixel refinement. We compare the results of our implementations with state-of-the-art approaches and analyze their performance with respect to the power consumption of the embedded system.
